There are other same-modality methods that solves registration on Oxford and KITTI dataset, e.g. USIP [1]} and 3DFeatNet [2]} that gives much better RTE and RRE. These methods work only on point cloud-to-point cloud instead of image-to-point cloud data, and thus are not directly comparable to our method. Furthermore, we note that the reported accuracy of our DeepI2P in Table REF  is sufficient for non life-critical applications such as frustum localization of mobile devices in both indoor and outdoor environments.
